EP4299453A1 - Dispositif d'emballage de champignons et procédé d'emballage de champignons utilisant ce dispositif - Google Patents

Dispositif d'emballage de champignons et procédé d'emballage de champignons utilisant ce dispositif Download PDF

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Publication number
EP4299453A1
EP4299453A1 EP22182550.8A EP22182550A EP4299453A1 EP 4299453 A1 EP4299453 A1 EP 4299453A1 EP 22182550 A EP22182550 A EP 22182550A EP 4299453 A1 EP4299453 A1 EP 4299453A1
Authority
EP
European Patent Office
Prior art keywords
tray
mushroom
mushrooms
conveyor belt
trays
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
EP22182550.8A
Other languages
German (de)
English (en)
Inventor
designation of the inventor has not yet been filed The
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Muzzroom BVBA
Original Assignee
Muzzroom BVBA
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Muzzroom BVBA filed Critical Muzzroom BVBA
Priority to EP22182550.8A priority Critical patent/EP4299453A1/fr
Priority to PCT/EP2023/068170 priority patent/WO2024003407A1/fr
Publication of EP4299453A1 publication Critical patent/EP4299453A1/fr
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B25/00—Packaging other articles presenting special problems
    • B65B25/02—Packaging agricultural or horticultural products
    • B65B25/04—Packaging fruit or vegetables
    • B65B25/046—Packaging fruit or vegetables in crates or boxes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/0045—Manipulators used in the food industry
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/023—Optical sensing devices including video camera means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0093—Programme-controlled manipulators co-operating with conveyor means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
    • B65B35/10—Feeding, e.g. conveying, single articles
    • B65B35/16—Feeding, e.g. conveying, single articles by grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
    • B65B35/10—Feeding, e.g. conveying, single articles
    • B65B35/16—Feeding, e.g. conveying, single articles by grippers
    • B65B35/18—Feeding, e.g. conveying, single articles by grippers by suction-operated grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
    • B65B35/10—Feeding, e.g. conveying, single articles
    • B65B35/24—Feeding, e.g. conveying, single articles by endless belts or chains
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B43/00—Forming, feeding, opening or setting-up containers or receptacles in association with packaging
    • B65B43/42—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation
    • B65B43/48—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation using reciprocating or oscillating pushers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B43/00—Forming, feeding, opening or setting-up containers or receptacles in association with packaging
    • B65B43/42—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation
    • B65B43/52—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation using roller-ways or endless conveyors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B43/00—Forming, feeding, opening or setting-up containers or receptacles in association with packaging
    • B65B43/42—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation
    • B65B43/54—Means for supporting containers or receptacles during the filling operation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B43/00—Forming, feeding, opening or setting-up containers or receptacles in association with packaging
    • B65B43/42—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation
    • B65B43/54—Means for supporting containers or receptacles during the filling operation
    • B65B43/59—Means for supporting containers or receptacles during the filling operation vertically movable
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B5/00—Packaging individual articles in containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, jars
    • B65B5/10—Filling containers or receptacles progressively or in stages by introducing successive articles, or layers of articles
    • B65B5/105—Filling containers or receptacles progressively or in stages by introducing successive articles, or layers of articles by grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B57/00—Automatic control, checking, warning, or safety devices
    • B65B57/10—Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of articles or materials to be packaged
    • B65B57/14—Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of articles or materials to be packaged and operating to control, or stop, the feed of articles or material to be packaged

Definitions

  • the present invention concerns a packaging device for packing mushrooms, in particular for packing mushrooms from a mushroom conveyor belt into trays.
  • Automated packaging of mushrooms from a conveyor belt into trays is known in the art.
  • Generally devices for such automated packaging comprise a conveyor for delivering mushrooms, a mushroom inspection and classification unit, a picking robot, a tray holder and a control unit.
  • the mushrooms are usually grown on beds arranged on racks.
  • One such bed is in most cases upto 100 m long and about 75 to 150 cm wide.
  • Harvesting of the mushrooms commonly done manually, whereby a picker harvests one single bed or one longitudinal half of a bed at once starting from one end of the bed and moving towards the opposite end in the longitudinal direction, harvesting the mushrooms that have reached a certain cap diameter.
  • the picker places the harvested mushrooms on a conveyor belt situated between him/her and the concerned bed.
  • This conveyor belt usually comprises a belt of limited width wherein a single row of holes are provided, the row extending over the entire length of the conveyor belt and configured to receive the stem of a harvested mushroom. As such all mushrooms on the belt are oriented with their cap facing upwards.
  • the stems of the mushrooms may shortened by the harvester prior to placing the mushroom on the conveyor belt or may be shortened in a dedicated automated unit positioned along the conveyor belt.
  • the conveyor belt extends from the beds where the mushrooms are harvested upto a packaging unit where the mushrooms are transferred from the conveyor belt to trays.
  • the transfer of the mushrooms from the conveyor belt to the trays is performed by a picking robot that picks the mushroom from the conveyor either by means of a suction pad or by a gripper and subsequently drops the mushroom in a tray.
  • the present invention addresses the above market need and provides for a mushroom packaging device comprising a conveyor for delivering mushrooms, a mushroom inspection and classification unit, a picking robot, a tray holder comprising a platform for holding a tray and a control unit, characterized in that, said platform of the tray holder is angled in view of the horizontal.
  • the platform is preferably angled in view of the horizontal over an angle ⁇ of between 5° and 30°, preferably between 10° and 20°.
  • the conveyor belt preferably extends in a plane parallel to or substantially parallel to the horizontal.
  • the mushroom packaging device comprising two or more tray holders.
  • the mushroom packaging device comprises a tray transport system for transporting trays to and from the tray holder(s).
  • the mushroom packaging device comprises a weighing unit for weighing trays filled with mushrooms, said weighing device provided in/on the tray transport system, downstream the tray holders.
  • the picking robot may be operated by the control unit on basis of input from the classification unit, which classification unit preferably comprises a visual inspection camera configured to determine a mushroom cap area.
  • the present invention also provides for a method of packaging mushrooms comprising the steps of:
  • the mushrooms are picked from the conveyor belt in an order determined by an algorithm based on the time required for the picking robot to pick the mushroom and subsequently load the mushroom in an assigned tray.
  • the mushroom packaging devices preferably comprises at least five different tray holders configured for each holding a tray, whereby each tray is to be filled with mushrooms having a cap area within a predetermined range, each of the five trays receiving mushrooms of a different cap area range.
  • two or more trays to be filled with mushrooms having a cap area within a same predetermined range are simultaneously present over a period of time in two different tray holders of the device, said range determined on the relative frequency of mushrooms on the conveyor belt within that predetermined range.
  • Fig. 1 illustrates a mushroom packaging device according to the present invention, comprising a conveyor for delivering mushrooms, a mushroom inspection and classification unit, a picking robot, at least one and in this case five tray holders, each comprising a platform for holding a tray, and a control unit.
  • the mushroom packaging system also comprises a weighing unit.
  • the conveyor is in this case a guided belt of limited width of about 10 to 15 cm wherein a row of holes is provided.
  • the holes form a single row extending in the longitudinal (transport) direction of the conveyor belt.
  • the holes may vary in diameter to form an alternating pattern of larger and smaller holes.
  • Each hole is configured to receive the stem of a mushroom, whereby larger mushrooms will fit with their stem in the larger holes, whereas smaller mushrooms fit with their stem in the smaller holes.
  • the cap of the mushroom as such rests on the conveyor belt at the periphery of the concerned hole.
  • the conveyor belt transports the mushrooms from cultivation beds (not shown) - where the mushrooms are allowed to grow and subsequently harvested - to the mushroom packaging device.
  • the conveyor belt, or at least the part thereof at the mushroom packaging device according to the present invention preferably extends in a plane parallel to the horizontal, such that mushrooms rest on the conveyor belt by gravity.
  • the mushroom inspection and classification unit in this case comprises a (3D) visual inspection camera that is directed towards the conveyor belt and allows for identifying mushrooms on the conveyor belt and measuring their cap area.
  • the inspection and classification unit generates data comprising information regarding the position of a mushroom on the conveyor belt and the cap area of the concerned mushroom.
  • the 3D visual inspection camera also collects data regarding the quality of the mushrooms on the conveyor belt, such as color, shape, eventual bruises, or other damages of the mushroom cap, ....
  • the picking robot is either of the suction type comprising a suction pad that is configured to engage with the cap of a single mushroom and to create a pressure reduction to pick up the concerned mushroom, or can be of a claw type with a head comprising claws that can be opened and closed to grip around the cap of a mushroom for picking it up.
  • the picking robot comprises arms or guides allowing it to move the suction pad or head along a part of the conveyor belt and towards trays in the tray holders.
  • the picking robot is configured to pick mushrooms from the conveyor belt over a domain that situated downstream the conveyor belt in view of the mushroom inspection and classification unit, preferably at a distance corresponding to the distance of at least five subsequent holes in the conveyor belt.
  • the domain in which the picking robot is configured to pick mushrooms from the conveyor belt preferably stretches over a distance corresponding to the distance of at least five subsequent holes in the conveyor belt.
  • the picking robot is preferably configured to pick mushrooms from the conveyor belt in a domain situated at a distance downstream the mushroom inspection and classification unit, corresponding to the distance of 5 to 10 subsequent holes in the conveyor belt.
  • the tray holder(s) are preferably positioned very next to the conveyor belt to limit the travel distance of the picking robot when transferring mushrooms from the conveyor belt to trays provided in the tray holders.
  • the tray holders main function is to hold trays to be filled with mushrooms and as such comprise a support, here further referred to as a platform for receiving trays thereon.
  • the support or platform can be of any type or form as long as it offers good support to the trays and allows for maintaining the trays steady during the filling operation.
  • the platform of the trays is tilted in view of the horizontal, preferably over an angle ⁇ of between 5° and 30°, preferably between 10° and 20°, more preferably around 15°.
  • the platforms of the tray holders are preferably angled towards the conveyor belt and more preferably are provided at a height such that an upper edge of the tray loaded thereon is approximately at the same level as the conveyor belt, this to keep the course of the picker robot for transferring mushrooms from the conveyor belt to the trays as short as possible.
  • the platform of the tray holders can be provided with a height adjustment means such as a spindle to adjust the position of the platform by moving it up or down in a direction normal to the plane of the platform.
  • Trays are preferably transported to and from the tray holders by a tray transport system, for example a tray conveyor belt.
  • a tray transport system for example a tray conveyor belt.
  • the actual loading and unloading of trays to the tray holders from the tray transport system can be achieved by pushers well known in the art.
  • the weighing device is preferably positioned downwards the tray transport system in view of the tray holders and allows weighing trays filled with mushrooms that are transported away from the tray holders.
  • a single weighing device in this suffices to weigh filled trays originating from different tray holders and preferably comprises a checkweigher, configured for weighing a filled tray during movement of the tray.
  • the control unit is configured to receive input from the mushroom inspection and classification unit regarding the position of a mushroom on the conveyor belt and the cap area of the concerned mushroom, and from the optional weighing device regarding the weight of the filled trays. This input is used to steer the picking robot and tray transport system according to a method as explained in more detail below.
  • the mushroom inspection and classification unit allows to determine the position of a mushroom on the conveyor belt and its cap area.
  • the mushroom inspection and classification unit is positioned sufficiently upstream the picking robot, as described supra, data of several mushrooms on the conveyor belt are provided to the control unit, prior to the mushrooms reaching the working domain of the picking robot.
  • the control unit assigns each mushroom, based on its cap area to one of the trays provided on one of the tray holders, whereby each tray will receive mushrooms within a predetermined range of cap areas.
  • the control unit subsequently determines, based on a pre-loaded algorithm, in which order the mushrooms on the conveyor belt within the domain of the picking robot, can be loaded into the assigned trays in a minimum of time and steers the picking robot to transfer mushrooms from the conveyor belt to the assigned trays in that order.
  • the mushrooms are transferred from the conveyor belt to the trays one by one.
  • the control unit also keeps track of the loading history of the assigned tray, such as to steer the picking robot to place a mushroom at a dedicated spot in the tray to which it is assigned.
  • This allows filling the trays is a layered sequence, wherein the first mushroom is placed against a lowermost side wall of the tilted tray, thereby preventing that mushroom from rolling over.
  • the next mushrooms will be placed next to it until a first row of mushrooms is provided against said lowermost side wall.
  • mushrooms are positioned in the tray in a second row against the first row and so on until a first layer of mushrooms fills the base of the tray.
  • a new layer can be laid in the same order as the first layer and so on until the tray is filled with a predetermined number of mushrooms and can be transported away from the tray holder to make place for a new empty tray.
  • cap areas By choosing the range of cap areas to be loaded into one tray sufficiently narrow, one can determine the exact spot in a tray where a mushroom is to be placed quite exactly, without leaving voids between mushrooms. Therefore, it is preferred to divide the mushrooms based on their cap size in at least five different groups, for example XS, S, M, L and XL, and to provide at least one tray holder for each of these groups. To further increase efficiency of the mushroom packaging, more than one tray holder can be provided for one or more of said different groups, for example based on the relative frequency of mushrooms within one group present on the conveyor belt.
  • groups for example XS, S, M, L and XL
  • the mushrooms are preferably loaded in a tray according to a staggered pattern, with the stems of mushrooms of a higher layer, positioned between or on the caps of four mushrooms of a lower layer.
  • the trays are discharged from the tray holders and transported away therefrom by the tray transport system.
  • the trays can be transported though the weighing unit to determine whether the expected net weight of mushrooms is present in the tray or that it is too low or it exceeds the expected weight.
  • the weighing station is configured to send a signal to the control unit that will alter the number of mushrooms of the concerned type to be loaded in a single tray to meet achieve the expected weight in a next tray filled with mushrooms with the same cap area range.
  • the mushroom packaging device according to the present invention is preferably designed for filling trays with 100g, 150g, 200g, 250g, 300g, 350g, 400g, 450g, 500g etc. upto 1500g of mushrooms.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Agronomy & Crop Science (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Food Science & Technology (AREA)
  • Multimedia (AREA)
  • Specific Conveyance Elements (AREA)
EP22182550.8A 2022-07-01 2022-07-01 Dispositif d'emballage de champignons et procédé d'emballage de champignons utilisant ce dispositif Ceased EP4299453A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP22182550.8A EP4299453A1 (fr) 2022-07-01 2022-07-01 Dispositif d'emballage de champignons et procédé d'emballage de champignons utilisant ce dispositif
PCT/EP2023/068170 WO2024003407A1 (fr) 2022-07-01 2023-07-03 Dispositif d'emballage de champignons et procédé d'emballage de champignons à l'aide de ce dispositif

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP22182550.8A EP4299453A1 (fr) 2022-07-01 2022-07-01 Dispositif d'emballage de champignons et procédé d'emballage de champignons utilisant ce dispositif

Publications (1)

Publication Number Publication Date
EP4299453A1 true EP4299453A1 (fr) 2024-01-03

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Family Applications (1)

Application Number Title Priority Date Filing Date
EP22182550.8A Ceased EP4299453A1 (fr) 2022-07-01 2022-07-01 Dispositif d'emballage de champignons et procédé d'emballage de champignons utilisant ce dispositif

Country Status (2)

Country Link
EP (1) EP4299453A1 (fr)
WO (1) WO2024003407A1 (fr)

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH1072014A (ja) * 1996-08-29 1998-03-17 Maki Seisakusho:Kk 物品吊持用の吸着子及びこれを用いた箱詰装置
EP3750394A1 (fr) * 2019-05-21 2020-12-16 Pilzkulturen Wesjohann GbR Système de culture et de récolte de champignons
WO2022031171A1 (fr) * 2020-08-06 2022-02-10 Jacobus Alexander Jozef Lemmen Dispositif d'emballage de champignons

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH1072014A (ja) * 1996-08-29 1998-03-17 Maki Seisakusho:Kk 物品吊持用の吸着子及びこれを用いた箱詰装置
EP3750394A1 (fr) * 2019-05-21 2020-12-16 Pilzkulturen Wesjohann GbR Système de culture et de récolte de champignons
WO2022031171A1 (fr) * 2020-08-06 2022-02-10 Jacobus Alexander Jozef Lemmen Dispositif d'emballage de champignons

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Publication number Publication date
WO2024003407A1 (fr) 2024-01-04

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